Flatness-based fault tolerant control of a nonlinear MIMO system using algebraic derivative estimation

Philipp Mai (1) , Cédric Join (2, 3) , Johan Reger (4)

1 EIT 8.1 - Institute of Automation and Control
2 CRAN - Centre de Recherche en Automatique de Nancy
3 ALIEN - Algebra for Digital Identification and Estimation
4 EECS - Control Laboratory

A flatness-based approach to fault tolerant control is proposed. The approach uses the recently published algebraic derivative estimation method for the estimation of those output derivatives that are necessary for determining intermittent actuator faults. The rapid performance of the estimation allows for an accommodation of the control to the fault. Additionally, taking into account the control saturations a novel classification scheme for actuator faults is introduced that exhibits a comprehensible graphical representation in terms of reachable sets. Dependent on the respective class of fault, an online adaptation of the reference trajectory is carried out. The ideas are demonstrated on a nonlinear MIMO system, which corresponds to an underactuated rigid body.

Mots clés: Fault tolerant systems; nonlinear control systems; estimation.; estimation

Domaines: Automatique

Philipp Mai, Cédric Join, Johan Reger. Flatness-based fault tolerant control of a nonlinear MIMO system using algebraic derivative estimation. 3rd IFAC Symposium on System, Structure and Control, SSC'07, Oct 2007, Foz do Iguaçu, Brazil. ⟨inria-00159308⟩